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2nd International Symposium on Sensor Technology and Control, ISSTC 2023

作者： You, Jingwei Wei, Shouqi Wu, Xiong Sun, Jianquan Guilin University of Electronic Technology Department of Electrical Engineering Guilin541004 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518000 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518000 China

ISBN: (纸本)9798350314465

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy. © 2023 IEEE.

关键词： Steam generators

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Collective Dynamics and Visual Interaction Topology of Bionic Flapping-wing Robot Flock

Collective Dynamics and Visual Interaction Topology of Bioni...

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2021 IEEE International Conference on Unmanned systems, ICUS 2021

作者： Tang, Qirong Cui, Yuanzhe Zhang, Jingtao Xu, Pengjie Zhang, Kun School of Mechanical Engineering Tongji University Laboratory of Robotics and Multibody System Shanghai China

ISBN: (纸本)9780738146577

In this paper, a specific directed-graph framework of flock interaction and collective dynamics of flapping-wing swarm robots are presented. The flock of flapping-wing robots is suitable for long distance tasks. A visual interaction topology network of flapping-wing robots under distributed control is considered for low battery cost. The network consists of a directed topology structure to describe an information delivery mechanism of a flapping-wing robots flock equipped with visual sensors. It is assumed that bird flocks in nature have similar directed interaction topology structure. Furthermore, a collective dynamics model for bionic flapping-wing robots is raised, in which robots are Spontaneously organized into formation while avoid running into each other. In order to validate collective dynamics of flapping-wing robots under simulation environment, range-limited Delaunay division graph is utilized to fit the realistic visual interaction among swarm robots. Several numerical simulation results are provided to demonstrate the effect of the presented collective dynamics. © 2021 IEEE.

关键词： Directed graphs

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Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

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Chinese Journal of Mechanical engineering 2022年第5期35卷 232-243页

作者： Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 006004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Tencent Robotics X Tencent HoldingsShenzhen 518057China

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is *** that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

关键词： Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis

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Time-Jerk Optimal Trajectory Planning of Robot based on Dung Beetle Optimizer Algorithm

Time-Jerk Optimal Trajectory Planning of Robot based on Dung...

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IEEE International Conference of Intelligent Robotic and Control engineering (IRCE)

作者： Chao Yang Qirong Tang Wenrui Wang Hao Yang Rongfu Lin Shuqing Wang Qingyun Liu School of Mechanical Engineering Anhui University of Technology Maanshan China Laboratory of Robotics and Multibody System Tongji University Shanghai China

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

To address the issues of low efficiency and vibration caused by motion impact in robotic operation, a time-jerk optimal trajectory planning method based on the dung beetle optimizer (DBO) algorithm is proposed. Initially, the trajectory of joint space motion is constructed using the 3-5-3 polynomial interpolation method. Then, the time and jerk of robot motion are taken as optimization objectives, with the joint velocity of the robot as a constraint in the optimization problem. The DBO algorithm, initialized with the logistic-tent chaotic mapping, is utilized to optimize these objectives. Simulation and experiments on the UR5 robot demonstrate that the overall motion time of the robot and the maximum jerk on each joint during motion are significantly reduced after optimization using the DBO algorithm, effectively enhancing the operational efficiency and motion stability of the robot.

关键词： Vibrations Interpolation Energy consumption Trajectory planning Simulation Manipulators Stability analysis Polynomials Optimization Trajectory optimization

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Smart Plant Application of Autonomous Decentralized systems with the Introduction of Edge Nodes 15

Smart Plant Application of Autonomous Decentralized Systems ...

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15th International Conference on Advanced Computer Theory and engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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Mag-Boost Mechanism for High-Power Ocean Wave Energy Harvesting

SSRN

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SSRN 2024年

作者： Tang, Tianyi Li, Yunfei Huang, Manjuan Mei, Mingqi Wang, Zizhao Zha, Fusheng Sun, Lining Liu, Huicong School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Ocean wave energy is a highly anticipated renewable energy source. However, due to the ultra-low frequency and random characteristics of ocean waves, efficient and high-power energy harvesting has been a great challenge. By ingeniously leveraging the phenomenon of sudden magnetic-torque variation in orthogonal magnetic fields, this paper proposes an innovative Mag-Boost mechanism, which is capable of converting ultra-low excitation below 1Hz to high-frequency oscillations of power-magnet more than 50Hz without direct contact. The energy conversion efficiency of this mechanism can be as high as 89.3%. By integrating four Mag-boost units into a circular array, a high-power wave energy harvester (WEH) with ultra-low frequency response capabilities has been proposed. At a frequency of 1Hz and an inclination angle of 30°, the WEH demonstrated a high output performance with power of 1.79W and power density of 1.88kW/m³, which is an order of magnitude higher than those of the previous reported ones. During the off-shore test at Yellow Sea, the WEH reached the peak open-circuit voltage of 10V, ensuring completely independent and stable power supply for wireless temperature and humidity sensors. Furthermore, the Mag-Boost mechanism also shows considerable potential for harvesting other forms of low-frequency environmental energy, including wind, vibration, and human kinetic energy. © 2024, The Authors. All rights reserved.

关键词： Water waves

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Soft ionic-hydrogel electrodes for electroencephalography signal recording

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Science China(Technological Sciences) 2021年第2期64卷 273-282页

作者： SHENG XinJun QIN Zhun XU HaiPeng SHU XiaoKang GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Wet gel electrodes have been widely used for electroencephalography(EEG) signal recording, which generally causes skin abrasion and longer preparation time. In this paper, we present soft ionic-hydrogel based electrodes to overcome such *** order to conveniently measure the EEG signals, we design the claw-like and patch-like structures for robust connection between metal(Ag/Ag Cl) electrodes and skin scalps. Next, we experimentally show that the soft ionic-hydrogel based electrodes have similar performance with the conventional wet gel electrodes in terms of the short-circuit noise, electrical impedance, and skin-electrode contact impedance on unprepared human skin, significantly better than dry electrodes and water-based *** further perform the EEG measurements and steady-state visual evoked potentials(SSVEP) experiments with five subjects to verify the effectiveness of the soft ionic-hydrogel based electrodes. The experimental results demonstrate that our developed soft ionic-hydrogel electrodes can record high-quality EEG signals in a fast and clean way, being a compelling option for EEG-based brain-computer interfaces.

关键词： brain-computer interface EEG electrodes ionic hydrogel soft materials

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AEROENGINE remaining life prediction based on grey similarity multiscale matching 20

AEROENGINE remaining life prediction based on grey similarit...

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20th International Conference on Condition Monitoring and Asset Management, CM 2024

作者： Sun, Shilong Huang, Haodong Ding, Jian Lu, Wenjie Wang, Dong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9780903132848

In this paper, we address the challenge of predicting the remaining useful life (RUL) of aero-engines, which are critical components of aircraft that operate under increasingly extreme conditions as engine performance enhances. Ensuring the safety and reliability of these engines is paramount. To this end, we introduce a novel RUL prediction methodology that leverages grey similarity multiscale matching. This approach employs the robust capabilities of Long Short-Term Memory (LSTM) networks for processing time-series data. Specifically, an LSTM Stacked AutoEncoder (L-SAE) is designed to extract pivotal operational features of the engine, thereby delineating its degradation trajectory. Furthermore, the grey correlation analysis is utilized to assess the similarity between these degradation trajectories, which is complemented by a multi-time scale sliding window technique for enhanced similarity matching. Subsequently, kernel density estimation is applied to gauge the uncertainty associated with the prediction outcomes. The efficacy and superiority of our proposed method are demonstrated through the validation of the experiment study. Comparative analysis reveals that our method outperforms existing techniques in key evaluation metrics, underscoring its potential applicability to large-scale datasets. This validation not only confirms the method’s effectiveness but also its advantage in predicting the RUL of aero-engines with greater accuracy and reliability. © 2024 20th International Conference on Condition Monitoring and Asset Management, CM 2024. All rights reserved.

关键词： Long short-term memory

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Enhancing interaction performance of soft pneumatic-networks grippers by skeleton topology optimization

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Science China(Technological Sciences) 2021年第12期64卷 2709-2717页

作者： CHEN ShiTong WANG YuSheng LI DeChen CHEN FeiFei ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

The inherent compliance of soft materials imbues robots,generally referred to as soft robots,with particular advantages in producing adaptive and safe ***,the mainstream design paradigms of soft robots have been focused on pursuing large free motions only,usually at the expense of greatly decreased stiffness,leading to limited capability of withstanding external loads in interactive *** is a pressing need to incorporate the interaction specifications at the design stage to embody soft robots with not only proper deformability but equally importantly,considerable stiffness to perform complex tasks in practical ***,inspired by the dexterity of human hands,we propose a computational design framework for soft grippers with a focus on improving their interaction performance in power grasping or precision grasping *** design paradigm rests on attaching a relatively stiffer skeleton layer to the parametric pneumatic networks based actuator which is widely used due to the geometric advantage,and the skeleton layout is designed for customized interaction conditions by a level set based topology optimization *** expected,the optimized skeleton layouts exhibit specified structural features highly relevant to the predefined concentrated loads for precision grip or distributed loads for power grip,which physically implies the compromise between deformability and *** the interaction forces are difficult to measure in situ,we devise power and precision grasping scenarios and evaluate the critical actuation pressure of the object’s falling *** experiments qualitatively demonstrate the superiority of each specified *** work represents an initial step toward the rational design for interaction in soft robots.

关键词： soft robotics interaction grippers topology optimization

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Design and Control of Continuous Jumping Gaits for Humanoid Robots Based on Motion Function and Reinforcement Learning

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Procedia Computer Science 2024年 250卷 51-57页

作者： Zida Zhao Shilong Sun Haodong Huang Qingbin Gao Wenfu Xu State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin Heilongjiang China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 China

Continuous jumping of humanoid robots is a challenging problem that requires appropriate gait and force control for the robot to achieve. Reinforcement learning (RL) has been applied to the motion control of humanoid robots and has achieved significant progress. However, traditional RL control methods primarily rely on designing reward signals to generate human-like movements, and it requires developing complex reward signals for continuous jumping, resulting in limited actions and suboptimal jumping performance. To address this issue, we have designed motion functions for humanoid continuous jumping and incorporated them into the RL framework to obtain desired human-like continuous jumping actions. Furthermore, two different jumping gaits are designed to investigate the jumping effects produced by different jumping functions: bent-knee jumping (BJ) and straight-knee jumping (SJ). BJ is a typical jumping style where the legs flex during the jumping process to accumulate energy, enabling higher explosive power. SJ is more suitable for tasks requiring quick responses, as the legs remain upright during the jump, providing faster reaction speed. The performance in continuous jumping tasks has been evaluated by comparing the effects of training with different jumping functions. This research has particular guidance for improving the jumping ability of robots and enhancing the stability and efficiency of humanoid continuous jumping.

关键词： Continuous jumping gaits Humanoid robots Motion function Reinforcement learning

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